. Author manuscript; available in PMC: 2024 Jan 19.

Published in final edited form as: IEEE Trans Med Robot Bionics. 2021 Oct 29;3(4):959–969. doi: 10.1109/tmrb.2021.3124128

Table III:

Statistical analysis summary of the effects of force feedback types, targets, task repetition on performance metrics

Performance Metric	Force Feedback		Target		Repetition
Performance Metric	p	Significance	p	Significance	p	Significance
Target Error	0.0389	D>SD	<0.0035	2>3>1>4	.02033	N/A
Needle Trajectory Straightness	0.0398	SD>D	<0.0035	1 > 2,3,4, 3 > 4	0.914	N/A
Time taken to complete the task	<0.0035	SD, D>S	<0.0035	2,3,4 > 1	0.0498	N/A

S – Spring, D – Damping, SD – Spring+Damping